#include <motion_controller/bridge/sensor_bridge.h>

SensorBridge::SensorBridge(tf2_ros::Buffer* tf_buffer):
    __tf_buffer(tf_buffer),__sensor_processor_ptr(nullptr){
        __sensor_processor_ptr = boost::make_shared<SensorProcessor>(__tf_buffer);
}

SensorBridge::~SensorBridge(){

}


// 获取雷达数据 
bool SensorBridge::GetLidarData(LidarScan2D& lidatr_scan_2d){
    if(!__sensor_processor_ptr) return false;
    return __sensor_processor_ptr->Scan2LidarScan2D(lidatr_scan_2d);
}